Abstract:

For the path tracking problem of mobile robots, the sliding mode controller of path tracking is designed based on the idea of inversion design. And the low-pass filter is used to reduce the interference in the control process effectively. Because the dynamic performance of the controller is not ideal, the constraint condition of bounded input is used to improve the control law and simplify the design of the controller. The simulation results show that the improved sliding mode controller has better tracking effect, faster dynamic response, and the path tracking control of mobile robots is global asymptotically stable.

Key words: mobile robot, path tracking, global asymptotic stability, sliding mode control, low-pass filter